Control system for a bale wrapping device

ABSTRACT

A system and method for automatic wrapping bales in a bale wrapper, including placing a bale on a loading table and performing a wrapping cycle. The wrapping cycle including rotating a wrapping hoop to apply a wrapping material to a bale surface, moving a bale pushing device from a first position toward a second position to push the bale through the wrapping hoop, dispensing from a first material applicator and a second material applicator, determining presence of the wrapping material, by a sensor on the wrapping hoop, adjusting based on the determining, a ratio of moving speed to rotational speed of the wrapping hoop, to apply a predetermined amount of wrapping material independent of the presence of wrapping material dispensing, continuing to move the bale pushing device until the second position is reached, stopping the rotation of the wrapping hoop, and moving the bale pushing device to the first position.

BACKGROUND OF THE INVENTION Field of the Invention

The present invention relates to the field of bale wrapping devices.More specifically, the present invention relates to a control system foran inline and individual bale wrapping device configured for applyingmaterial over bale(s) passing through the bale wrapping device and to amethod of operation thereof.

Description of the Related Art

Baling of forage crops such as hay has traditionally been used topreserve these crops to feed livestock when needed, such as during thewinter or other non-growing seasons or when adequate grazing resourcesare not otherwise available.

Typically, hay is formed into large cylindrical rolls or compressedrectangular bundles, known as bales, by a baler. A bale wrapping devicecan be used to wrap the bales in a wrapping material to reduce exposureto the elements or limit air infiltration to further preserve bales ofcrops until they are needed. Bales can be wrapped individually, ingroups, or end-to-end in a line (also known as inline bale wrapping.)

The bales are formed in a field by the baler and are then transported toa storage area to be kept until they are needed for animal feed orbedding. If there is not sufficient space in a building or shed forstoring the bales, the bales can be wrapped and left outside duringstorage. Ideally, bales that have differing moisture contents requiredifferent storage conditions to maintain optimum quality. Bales withmoisture content above a certain threshold value need to maintain ananaerobic state for proper fermentation to occur. Dryer materials thatdo not reach the moisture content value needed for fermentation can moldif they are not allowed to breathe. If the material is even drier to thelevel that it will not mold, a sealed environment can still lead tocondensation that can create a layer of spoiled material on the outerlayer of the bale. Additionally, the optimum amount of wrapping materialto maintain desired bale quality can change based on the duration ofexpected storage time. For example, a bale that is intended to be usedin three months may need less wrapping material to maintain desiredquality than if the same bale were to remain in storage for a full year.

The bale wrapping devices currently used for wrapping bales tend tosuffer from several drawbacks. For example, and without being limiting,such bale wrapping devices dispense wrapping material, which is mostcommonly a plastic film but may be comprised of various other suitablematerials or combinations thereof, around a bale or a group of balesaccording to a set ratio determined by a mechanical setting or aprogrammed setting based on theoretical bale and wrap applicationparameters and are not reactive to the actual application parameters andchanging material parameters of the bales being wrapped. Additionally,if the operator fails to update wrapping parameters when bale parameterschange, inadequate or wasteful wrapping material use may occur.Furthermore, the current bale wrapping devices do not take into accountbale moisture content and the expected storage time, and thereby do notapply the appropriate amount of wrapping material.

Instead, due to the lack of adaptability, it is commonplace to overapplywrapping material to make sure enough wrapping material is applied forall situations. This makes the process cost prohibitive for lower valuefeedstocks where there is still significant benefit to protecting thebale from spoilage and mold. For higher value feedstocks, aninappropriate amount of wrapping material may be applied.

Additionally, bale wrappers need careful monitoring and significantintervention while starting a row of bales and monitoring levels ofwrapping material. The conventional system requires the operator tostart the row of bales with the wrapper in a first configuration andthen once the row has started, shift the bale wrapper to a secondconfiguration. The end of a row of bales must also be sealed by eitherincluding a fully wrapped bale which is a waste of additional wrappingmaterial by wrapping an already wrapped bale or including an expensiveend cap that requires manual application.

Concurrently, the levels of wrapping material must be monitored by theoperator to make sure that when the wrapping material runs out, therolls are replenished before restarting the wrapping process. In thecurrent bale wrapping devices, when a roll of wrapping material is nolonger dispensing, the wrapping process is stopped for the roll to bereplenished. This replenishment typically occurs by removing the emptyrolls from the carriers and manually lifting full rolls of wrappingmaterial onto the carriers. All of these interventions are laborintensive and reduce the efficiency of the bale wrapping device.

Furthermore, improper compression settings and changes in terrain andground conditions can lead to inadequate bale compression and reducedstorage quality if not addressed. In the current bale wrapping devicesthe brakes are adjusted manually if the compression does not appear tobe appropriate. Manual adjustment of compression may not be performedtimely and consistently, and will result in substantially less thanideal compression.

In view of the above, there is a need for an improved bale wrappingdevice and method, which would be able to overcome, or at least reduce,some of the above discussed problems with the current bale wrappingdevices and methods.

SUMMARY OF THE INVENTION

An aspect is a method for automatic wrapping a group of bales in a balewrapper, that includes placing a first bale in the group of bales on aloading table of the bale wrapper; performing a wrapping cycleincluding: rotating a wrapping hoop to apply a wrapping material to abale surface; moving a bale pushing device from a first position towarda second position to push the first bale through the wrapping hoop;dispensing from at least a first material applicator and a secondmaterial applicator; determining presence of the wrapping material, byat least one sensor on the wrapping hoop; adjusting based on thedetermining, at least a ratio of moving speed of the bale pushing deviceto rotational speed of the wrapping hoop, to apply a predeterminedamount of wrapping material independent of the presence of wrappingmaterial dispensing from the first material applicator and the secondmaterial applicator; continuing to move the bale pushing device untilthe second position is reached; stopping the rotation of the wrappinghoop; and moving the bale pushing device from the second position to thefirst position.

BRIEF DESCRIPTION OF THE DRAWINGS

These and other advantages of the invention will become more apparentand more readily appreciated from the following detailed description ofthe exemplary embodiments of the invention taken in conjunction with theaccompanying drawings where:

FIG. 1 is a perspective view of the bale wrapping device, according toone embodiment;

FIG. 2 is a perspective view of the bale wrapping device illustratedwith a group of bales and applying a wrapping layer, according to oneembodiment;

FIG. 3 is a flowchart for a method for wrapping bales in a bale wrapper,according to one embodiment;

FIG. 4 is a flowchart for a wrapping cycle for bales in a bale wrapper,according to one embodiment;

FIG. 5 is a block diagram of a control system for a bale wrapping devicewith wrapping material monitoring, according to one embodiment;

FIG. 6 is a block diagram of a control system for a bale wrappingdevice, according to one embodiment with wrapping material monitoring;

FIG. 7 is a block diagram of a control system for a bale wrapping devicewith remaining material alert, according to one embodiment;

FIG. 8 is a block diagram of a control system for a bale wrapping devicewith bale weight measurement, according to one embodiment;

FIG. 9 illustrates an interactive display, according to one embodiment;

FIG. 10 is a block diagram of a control system for a bale wrappingdevice with wrapping based on bale position, according to oneembodiment;

FIG. 11 is a graph of wrapping material quantity based on bale position,according to one embodiment;

FIG. 12 is a block diagram of a control system for a bale wrappingdevice based on bale moisture, according to one embodiment;

FIG. 13 is a block diagram of a control system for a bale wrappingdevice based on bale length, according to one embodiment;

FIG. 14 is a block diagram of a control system for a bale wrappingdevice with pressure, according to one embodiment;

FIG. 15 is a block diagram of a control system for a bale wrappingdevice with roller ramp, according to one embodiment;

FIG. 16 is a block diagram of a control system for a bale wrappingdevice with engine performance control, according to one embodiment.

FIG. 17 is a side view of the bale wrapping device illustrated with agroup of bales on the bale wrapping device in a raised (substantiallylevel) position, according to one embodiment;

FIG. 18 is a side view of the bale wrapping device illustrated with agroup of bales on the bale wrapping device in a lowered (angled)position, according to one embodiment;

FIG. 19 is a block diagram of a control system for a bale wrappingdevice based on bale diameter, according to one embodiment; and

FIG. 20 is a block diagram of a control system for a bale wrappingdevice based on input from a wireless receiver, according to oneembodiment.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

Various methods, devices, and apparatuses are described below to providean example of at least one embodiment of the claimed subject matter. Noembodiment described below limits any claimed subject matter and anyclaimed subject matter may cover apparatuses and methods that differfrom those described below. The claimed subject matter is not limited tomethods, devices, and apparatuses having all of the features of any onemethod, device, or apparatus described below or to features common tomultiple or all of the methods, devices, and apparatuses describedbelow. Subject matter that may be claimed may reside in any combinationor sub-combination of the elements or process steps disclosed in anypart of this document including its claims and figures. Accordingly, itwill be appreciated by a person skilled in the art that methods,devices, and apparatuses disclosed in accordance with the teachingsherein may embody any one or more of the features contained herein andthat the features may be used in any particular combination orsub-combination that is physically feasible and realizable for itsintended purpose.

Furthermore, it is possible that methods, devices, and apparatusesdescribed below are not an embodiment of any claimed subject matter. Anysubject matter that is disclosed in and methods, devices, andapparatuses described herein that is not claimed in this document may bethe subject matter of another protective instrument, for example, acontinuing patent application, and the applicant(s), inventor(s) and/orowner(s) do not intend to abandon, disclaim, or dedicate to the publicany such invention by its disclosure in this document.

It will also be appreciated that for simplicity and clarity ofillustration, where considered appropriate, reference numerals may berepeated among the figures to indicate corresponding or analogouselements. In addition, numerous specific details are set forth in orderto provide a thorough understanding of the example embodiments describedherein. However, it will be understood by those of ordinary skill in theart that the example embodiments described herein may be practicedwithout these specific details. In other instances, well-known methods,procedures, and components have not been described in detail so as notto obscure the example embodiments described herein. Also, thedescription is not to be considered as limiting the scope of the exampleembodiments described herein.

In the following description, the same numerical references refer tosimilar elements. The embodiments, geometrical configurations, materialsmentioned, and/or dimensions shown in the figures or described in thepresent description are embodiments only, given solely forexemplification purposes.

Moreover, although the embodiments of the bale wrapping device andcorresponding parts thereof consist of certain geometricalconfigurations as explained and illustrated herein, not all of thesecomponents and geometries are essential and thus should not be taken intheir restrictive sense. It is to be understood, as also apparent to aperson skilled in the art, that other suitable components andcooperation there in between, as well as other suitable geometricalconfigurations, may be used for the bale wrapping device, as will bebriefly explained herein and as can be easily inferred here from by aperson skilled in the art. Moreover, it will be appreciated thatpositional descriptions such as “above”, “below”, “left”, “right” andthe like should, unless otherwise indicated, be taken in the context ofthe figures and should not be considered limiting.

Referring to FIG. 1 , illustrated therein is a perspective view of abale wrapping device 100 for wrapping a bale. The bale wrapping device100 includes a bale moving (pushing) device 104, a bale wrapping frame106, a bale wrapping mechanism 118, a wrapping hoop 110, a moistureprobe 1202, a loading table 516 and a wrapping material (Not shown).

The bale is disposed on the loading table 516 along the direction 116.

FIG. 2 is a perspective view of a bale wrapping device with a wrappinglayer 120 being applied to a group of bales. FIG. 2 shows a group ofbales 102, along with a wrapping material applicator 118. In anembodiment, for ease of illustration, FIG. 2 only illustrates onewrapping material applicator, as the second applicator is obstructed bythe group of bales.

FIG. 3 is a flowchart for a method for an automatic bale wrapping cyclein a bale wrapper. In step S302, the automatic bale wrapping cycle isactivated, e.g., by pressing a start button, or entering a start commandthrough a touch screen. In step S304, a first bale in the group of balesis placed on a loading table of the bale wrapper, which causes awrapping cycle to be initiated. The wrapping cycle includes, step S306,the ramping up of the engine speed in order to dispense wrappingmaterial. In step S308, rotating a wrapping hoop 110 to apply a wrappingmaterial to a bale 102 surface and moving a bale pushing device from afirst position to a second position to push the first bale through thewrapping hoop until the second position is reached. In step S310, whenthe bale pusher device completes extension, i.e., reaches the secondposition, stopping the rotation of the wrapping hoop 110. In step S312,moving the bale pushing device from the second position back to thefirst position. At least one sensor on the wrapping hoop 110 determiningthe presence of wrapping material dispensing from at least a firstmaterial applicator 118 and a second material applicator 118, andadjusting based on the determining, at least a ratio of moving speed ofthe bale pushing device to rotational speed of the wrapping hoop 110, toapply a predetermined amount of wrapping material independent of thepresence of material dispensing from the first material applicator 118and the second material applicator 118.

FIG. 4 is a flowchart for a wrapping cycle for bales in a bale wrapper.In step S402, the wrapping cycle is initiated, for example by startingan engine of the bale wrapper. The operator may input or select adesired material application rate. In S404, the rate at which thematerial is being applied is compared to the desired materialapplication rate, and a check is made for a match. In S406, the quantityof material applicators being used to apply the material is compared tothe number of active material applicators, and a check is made for amatch. In step S408, in the case that the quantity of materialapplicators being used does not match the number of active materialapplicators, the number of active material applicators is adjusted. InS410, a check is made to verify that the number of active materialapplicators is greater than zero. If yes, step S406 is repeated. If no,in step S412, the rotational speed of the wrapping hoop is adjusted tozero and the speed of the bale pushing device is adjusted to zero, andan alert is sent to the operator. In S414, wrapping material is loadedonto at least one material applicator, then the wrapping cycle isstarted in S402.

Again, in S404, the rate at which the material is being applied iscompared to the desired material application rate, and a check is madefor a match. If there is not a match, in S406, the quantity of materialapplicators being used to apply the material is compared to the numberof active material applicators, and a check is made for a match. Ifthere is a match, in S416, the rotational speed of the wrapping hoop 110and/or speed of the bale pushing device 104 is adjusted until an appliedmaterial rate matches a desired material application rate.

In S418, when the applied material rate matches the desired materialapplication rate, and the wrapping cycle is complete, in S420, the balepushing device 104 returns to the initial position, and the bale wrapperawaits a next wrapping cycle.

For example, in S406, at a first time the sensor on the wrapping hoop110 determines the presence of wrapping material dispensing from a firstmaterial applicator and a second material applicator and the wrappingmaterial is applied at a predetermined amount. In S408, at a second timethe sensor on the wrapping hoop 110 determines the presence of wrappingmaterial dispensing from a first material applicator only (YES in S410),and based on the determining, in S416, the ratio of moving speed of thebale pushing device to rotational speed of the wrapping hoop is reducedto apply the predetermined amount of wrapping material. In S408, at athird time the sensor on the wrapping hoop 110 determines the presenceof wrapping material dispensing from the first material applicator andthe second material applicator and based on the determining, in S416,the ratio of moving speed of the bale pushing device to rotational speedof the wrapping hoop is increased to apply the predetermined amount ofwrapping material.

In another example, in S406, at a first time the sensor on the wrappinghoop 110 determines the presence of wrapping material dispensing from afirst material applicator and a second material applicator and thewrapping material is applied at a predetermined amount. At a secondtime, in S408, the sensor on the wrapping hoop determines the presenceof wrapping material dispensing from a first material applicator, asecond material applicator and a third material applicator and based onthe determining, in S416, the ratio of moving speed of the bale pushingdevice to rotational speed of the wrapping hoop is increased to applythe predetermined amount of wrapping material.

FIG. 5 is a block diagram of a control system for a bale wrappingdevice, according to one embodiment. The control system is configuredwith a bale wrapper controller 502. The bale wrapping controller 502 isa microcontroller configured to receive sensor signal inputs and controlsignal outputs. The bale wrapping controller 502 includes programinstructions for determining the control output signal based on receivedsensor input signals. In some embodiments, the bale wrapping controller502 receives signals for setting one or more control parameters and cansend messages and/or alarms to an output device, such as a displaydevice, sound output device, or an audible speaker device.

The bale wrapper controller 502 receives a movement speed signal from amoving speed sensor 514 and receives a rotation speed signal from arotation sensor 512. The moving speed sensor 514 measures the movementspeed of the bale pushing device. The moving speed sensor 514 may be aninduction sensor, a magnetic sensor, or laser sensor. In an embodiment,the movement speed of the bale pushing device 104 may be calculated fromthe speed of the actuator that moves the bale pushing device 104. Therotation sensor 512 may be a magnetic sensor, or laser sensor, thatsends a detection signal each time a point on the wrapping hoop 110 isdetected. The bale wrapping controller 502 calculates the rotation speedof the wrapping hoop 110 based on a rate of receiving the detectionsignal from the rotation sensor 512.

The bale wrapper controller 502 receives an amount of wrapping materialsignal from each of a first material applicator 518 and a secondmaterial applicator 520. The bale wrapper controller 502 may alsoinclude controls to operate a loading table 516, for example to adjustthe height of the table, or to measure the weight of bales placed on thetable 516.

The bale wrapper controller 502 controls moving of the Bale PushingDevice at a moving speed 522. The bale wrapper controller 502 controlsrotation of the wrapping loop 110 at a rotating speed 524.

In a further embodiment, in S416, the ratio of moving speed of the balepushing device to rotational speed of the wrapping hoop is determined bythe controller 502. The bale wrapper controller 502 receives a wrappingmaterial signal indicative of the presence of the wrapping materialdispensing from at least a first material applicator 518 and a secondmaterial applicator 520. Based on the wrapping material signal, in S406,a number of active material applicators that are applying wrappingmaterial is determined. Based on the determination of the quantity ofactive material applicators, in S416, the bale wrapper controller 502adjusts at least one of the moving speed 522 of the bale pushing device104 and rotational speed 524 of the wrapping hoop 110 to apply thepredetermined amount of wrapping material.

FIG. 6 is a block diagram of a control system for a bale wrappingdevice, according to one embodiment. Regarding FIG. 6 , the bale wrappercontroller 502 receives an amount of wrapping material signal from eachof a third material applicator 602 and a fourth material applicator 604.

In an additional embodiment, the bale wrapper controller, in S406,receives a wrapping material signal indicative of the presence of thewrapping material dispensing from at least one of a first materialapplicator 518, a second material applicator 520 and a third materialapplicator 602. Based on the wrapping material signal, the controller502 determines a number of active material applicators. Based on thedetermination of the quantity of active material applicators, in S416the bale wrapper controller 502 adjusts at least one of the moving speed522 of the bale pushing device 104 and rotational speed 524 of thewrapping hoop 110 to apply the predetermined amount of wrappingmaterial.

In another embodiment, the bale wrapper controller 502 receives (NO inS410) a wrapping material signal indicative of no wrapping material onany of a first material applicator 518, a second material applicator520, a third material applicator 602, and a fourth material applicator604, and when the quantity of active material applicators is zero, inS412, the bale wrapper controller 502 adjusts the moving speed 522 ofthe bale pushing device 104 and rotational speed 524 of the wrappinghoop 110 to zero.

FIG. 7 is a block diagram of a control system for a bale wrapping devicewith remaining material alert. In another method for wrapping a group ofbales in a bale wrapper, a remaining material sensor 702 measures aparameter indicative of at least a first remaining amount of material onat least a first material applicator, and the bale wrapper controller502 informs an operator when the at least first remaining amount ofmaterial is below a predetermined remaining amount of materialthreshold.

In an embodiment, the remaining material sensor 702 measures a size of aroll of wrapping material on at least the first material applicator 518and when the size of the roll of material is below a predeterminedremaining amount of material threshold the bale wrapper controller 502outputs an alert 704 for the operator through at least one of a visualor audible warning. The remaining material sensor 702 may measure sizeof a roll (thickness of wrapping material) using a light sensor, orother distance sensor device.

In another embodiment, the remaining material sensor 702 measures aspeed of a roll of wrapping material on at least the first materialapplicator 518 and when the speed of the roll of material is above apredetermined remaining amount of material threshold, the bale wrappercontroller 502 outputs an alert 704 for the operator through at leastone of a visual or audible warning. The remaining material sensor 702may include a magnetic sensor, or laser sensor, that detects a point onthe material applicator shaft. The bale controller 502 measures therotation speed of the material applicator shaft based on the detectionsignal from the remaining material sensor 704.

In a further embodiment, the remaining material sensor 702 measures aspeed of a roll of wrapping material on at least the first materialapplicator 518 and when the speed of the roll of material is below apredetermined remaining amount of material threshold, indicating thatthe wrapping material is not being applied, the bale wrapper controller502 outputs an alert 704 for the operator through at least one of avisual or audible warning. The remaining material sensor 702 may includea magnetic sensor, or laser sensor, that detects a point on the materialapplicator shaft. The bale controller 502 measures the rotation speed ofthe material applicator shaft based on the detection signal from theremaining material sensor 704.

In a further embodiment, the remaining material sensor 702 measures asound of a roll of wrapping material on at least the first materialapplicator 518 and when the sound of the roll of material corresponds toa level that indicates the roll is below a predetermined remainingamount of material threshold, the bale wrapper controller 502 outputs analert 704 for the operator through at least one of a visual or audiblewarning. The remaining material sensor 702 measures sound using a noisecanceling microphone. The noise canceling microphone is positioned inclose proximity to the associated material applicator so as to not pickup sound from other material applicators. Preferably, positioning of thenoise canceling microphone at an appropriate position is performedthrough testing before the bale wrapping device is deployed.

In a further embodiment, the remaining material sensor 702 measures aparameter of a roll of wrapping material on at least the first materialapplicator 518 and when the parameter of the roll of materialcorresponds to a level that indicates the roll is below a firstpredetermined remaining amount of material threshold, the bale wrappercontroller 502 outputs an alert 704 for the operator through at leastone of a first visual or audible warning and when the parameter of theroll of material corresponds to a level that indicates the roll is belowa second predetermined remaining amount of material threshold, the balewrapper controller 502 outputs an alert 704 for the operator through atleast one of a second visual or audible warning, wherein the firstvisual or audible warning is different from the second visual or audiblewarning.

In one embodiment of the invention, the bale wrapper controller 502outputs an alert for the operator of a status of the bale wrapperthrough a visual warning wherein the visual warning includes flashing atleast a transport light of the bale wrapper and in another embodiment ofthe invention the bale wrapper controller 502 outputs an alert 704 forthe operator that a roll of material is below a first predeterminedremaining amount of material threshold with a first visual warning,wherein the first visual warning include flashings at least a transportlight of the bale wrapper.

FIG. 8 is a block diagram of a control system for a bale wrapping devicewith bale weight measurement. In another improved method for wrapping agroup of bales in a bale wrapper, a bale is placed on a loading table516 of the bale wrapper and a weight measurement 822 of material in thebale is determined. The weight measurement 822 may be obtained using anelectrical or mechanical weight scale device. The weight scale device isconnected to the bale wrapper controller 502. In some embodiments, theweight is obtained using one or more weight sensors, which measureforce, such as a piezoelectric sensor. In such case, the bale wrappercontroller 502 calculates the weight based on the force signals. Thedetermining is completed by a first weight signal interpretation priorto the placement of the bale on the loading table 516 and a secondweight signal interpretation after the bale has been placed on theloading table of the bale wrapper. The bale wrapper controller 502determines a variation between the first weight signal and second weightsignal which is indicative of the weight of the bale on the loadingtable.

An aspect is a method for wrapping a group of bales in a bale wrapper,that includes placing a bale on a loading table of the bale wrapper, anddetermining a weight of material in the bale. The determining iscompleted by a first weight signal interpretation prior to the placementof the bale on the loading table and a second weight signalinterpretation after the bale has been placed on the loading table ofthe bale wrapper, and a variation between said first weight signal andsecond weight signal is indicative of the weight of the bale on theloading table. The method further includes performing a wrapping cycleincluding: rotating a wrapping hoop to apply a wrapping material to abale surface; moving a bale pushing device from a first position towarda second position to push the first bale through the wrapping hoop;dispensing from at least a first material applicator and a secondmaterial applicator; determining presence of the wrapping material, byat least one sensor on the wrapping hoop; continuing to move the balepushing device until the second position is reached; stopping therotation of the wrapping hoop; and moving the bale pushing device fromthe second position to the first position.

In a further embodiment, the variation between a third weight signalinterpretation prior to the placement of a second bale on the loadingtable and a fourth weight signal interpretation after the second balehas been placed on the loading table of the bale wrapper is recorded bythe bale wrapper controller 502. The controller 502 determines variationbetween said third weight signal and fourth weight signal as anindication of the weight of the second bale on the loading table 516,wherein the third weight signal and the first weight signal may bedifferent. The controller 502 may determine each of the first, second,third, and fourth weight signals as an average of multiple of weightsignals from sensors placed between the loading table 516 and theground.

In one embodiment, weight sensors are positioned in at least a firstwheel spindle of a first wheel of the bale wrapper and in anotherembodiment the weight sensors are positioned in at least a first wheelspindle of a first wheel of the bale wrapper and a second wheel spindleof a second wheel of the bale wrapper. In a further embodiment, theweight sensors are placed between the loading table 516 and a balewrapper frame to more directly measure the variation between said firstweight signal and second weight signal.

The variation between at least the first weight signal and second weightsignal indicative of the weight of the bale on the loading table 516 canbe further used to determine the presence of a bale on the loading table516. In one embodiment the controller 502 determines variation betweenthe first weight signal and second weight signal and compares thevariation against a threshold weight signal. The threshold weight signalis indicative of a minimum bale weight that can be used to initiate awrapping cycle. If the variation between the first weight signal and thesecond weight signal is above a predetermined threshold weight signal,the controller 502 records the variation between the weight signals andthe wrapping cycle is initiated to begin wrapping the bale.

Additionally, the variation between at least the first weight signal andsecond weight signal, indicative of the weight of a first bale on theloading table 516 and the variation between the third weight signal andfourth weight signal, indicative of the weight of the second bale on theloading table 516, can be recorded by the controller 502 to track acumulative weight of material in at least a first bale and a secondbale.

FIG. 9 illustrates an interactive display. The bale wrapper may beequipped with an interactive interface, in which an operator may inputand/or change base settings and may view status information of the balewrapper. The interactive interface may be a display device or a touchscreen display device 900. The display device 900 may include an inputsection 902 for inputting bale settings, and a status section 904 fordisplaying bale wrapper status information. The input section 902 mayalso display certain data, such as a cumulative weight 918 of bales.Further, the controller 502 may compare the cumulative weight to atarget weight threshold. Once the cumulative weight exceeds the targetweight threshold, the bale wrapper controller 502 initiates a closingcycle to complete the row of bales. This function allows the operator toset a target weight threshold 912 for a row of bales and the balewrapper controller 502 can inform the operator when the target weightthreshold has been reached.

In one embodiment of the invention, the bale wrapper adjusts thequantity of wrapping material applied to the row of bales, based on theposition within the row of bales. For example, when wrapping a row ofbales a first quantity (number of layers) of wrapping material isapplied to a first portion of the row and a second quantity of wrappingmaterial is applied to a second portion of the row of bales, wherein thefirst quantity of wrapping material is different from the secondquantity of wrapping material based on position of the bale wrapperalong a row of bales.

FIG. 10 is a block diagram of a control system for a bale wrappingdevice with wrapping based on bale position. In a further embodiment,the position along the row of bales is determined by at least one of anoperator input, a feedback signal from a guidance sensor 1006, or asignal indicative of a stage in a series of stages (i.e. monitoring theposition in a sequence of events that occur in a specific order). Theguidance sensor 1006 may be a laser sensor, radar sensor, or any sensorthat can detect presence and distance to objects. FIG. 11 is a graph ofwrapping material quantity based on bale position. The bale wrappercontroller 502 counts the number of wrapping cycles and adjusts thewrapping material applied to the row of bales based on the graphindicating a predetermine threshold of wrapping cycles. For example, thebale wrapper controller 502 controls application of a first quantity ofwrapping material during a first number of wrapping cycles and at leasta second quantity of wrapping material during a second number ofwrapping cycles.

FIG. 12 is a block diagram of a control system for a bale wrappingdevice based on bale moisture. In another method for wrapping a group ofbales in a bale wrapper, a bale is placed on a loading table 516 of thebale wrapper and a bale moisture sensor 1202 makes a measurementindicative of a moisture content of the bale. The bale moisture sensor1202 may be a moisture sensor that includes a sensor rod that canpenetrate into a bale. Bale wrapper controller 502 receives the signalindicative of the moisture content and determines a wrapping materialquantity based on at least one of a moisture content, a storage durationand a final bale quality. Regarding FIG. 9 , the interactive interfacemay include an input slot for entering a bale quality 914 and a storageduration 916. The bale wrapper controller 502 is configured to adjustthe wrapping material quantity applied to the bale, based on a moisturereading, storage duration and final bale quality.

For example, the operator inputs a storage duration 916 into display900, which is input into the bale wrapper controller 502, a first baleis loaded on the bale wrapper loading table 516 and a moisturemeasurement is made by the bale moisture sensor 1202 to determine themoisture content of the first bale, the bale wrapper controller 502adjusts the wrapping material quantity to match amount needed to achievethe input storage duration 916, the bale pushing device 104 moves thefirst bale through the bale wrapping hoop 110, and the bale wrappinghoop 110 rotates to apply the instructed wrapping material quantity asindicated by the bale wrapper controller 502, a second bale is loaded onthe bale wrapper loading table 516 and a moisture measurement is made bythe bale moisture sensor 1202 to determine the moisture content of thesecond bale, the bale wrapper controller 502 adjusts the wrappingmaterial quantity to match an amount needed to achieve the input storageduration 916, the bale pushing device 104 moves the second bale throughthe bale wrapping hoop 110, and the bale wrapping hoop 110 rotates toapply the instructed wrapping material quantity as indicated by the balewrapper controller 502.

An aspect is a method for wrapping a group of bales in a bale wrapper,that includes determining by a moisture sensor, a moisture content of abale in a group of bales, receiving by a wireless receiver a moisturecontent of the bale, a bale wrapper controller, determining a wrappingmaterial quantity based on at least one of a moisture content, a storageduration and a final bale quality, and adjusting, by the bale wrappercontroller, the wrapping material quantity applied to the bale, based ona moisture content of the bale.

In one embodiment, the bale moisture sensor 1202 is attached to the balewrapper frame 106 and measures the bale moisture content before the balebegins to move on the bale wrapper loading table 516.

In a further embodiment, the bale moisture sensor 1202 is attached tothe bale pushing device 104 and measures the bale moisture content asthe bale begins to move on the bale wrapper loading table 516.

In a further embodiment, the bale moisture sensor 1202 is attached tothe bale pushing device 104 in a manner to penetrate into the bale, andmeasures the bale moisture content as the bale begins to move on thebale wrapper loading table 516.

In a further embodiment, the bale moisture sensor 1202 is retractivelyattached to the bale pushing device 104 in a manner to penetrate intothe bale when the bale pushing device 104 contacts the bale, andmeasures the bale moisture content as the bale begins to move on thebale wrapper loading table 516.

In another method for wrapping a group of bales in a bale wrapper, thebale wrapper controller 502 compares a theoretical applied wrappingmaterial quantity to an actual applied wrapping material quantity andadjusts the ratio of the bale pushing device travel velocity to the balewrapping hoop rotational velocity until the actual applied wrappingmaterial quantity is equal to the theoretical applied wrapping materialquantity.

In one embodiment, the bale wrapper controller 502 receives feedbackfrom a first speed sensor that measures the speed of the bale wrappinghoop 110 and compares the feedback from the first speed sensor to adesired theoretical speed and adjusts an input to a drive wheeldrivingly contacting the bale wrapping hoop 110 until the feedback fromthe first speed sensor matches the desired theoretical speed.

In one embodiment, the bale wrapper controller 502 makes an adjustmentto the quantity of wrapping material, (i.e. the number of layers) from afirst quantity on the surface of a first bale, to a second quantity on aseam between the first bale and a second bale (seam layers), and furthermakes an adjustment to the quantity of wrapping material to a thirdquantity on a surface of the second bale.

In a further embodiment, the bale wrapper controller 502 makes anadjustment to the quantity of wrapping material, (i.e. the number oflayers) from a first quantity on the surface of a first bale, to asecond quantity on a seam between the first bale and a second bale, andfurther makes an adjustment to the quantity of wrapping material to athird quantity on a surface of the second bale wherein the first andthird quantities of wrapping material are the same.

When a bale wrapper is applying additional layers at the intersection ofa first bale and a second bale (seam layers) the position of theintersection must be known to the bale wrapper controller. This is donewith a mechanical setting or a programmed bale length, however, if thebale length does not match a predetermined setting or the setting is notprogrammed correct, wrapping material may be applied improperly, leadingto wasted wrapping material on a first portion of the row of bales andinadequate wrapping material leading to spoilage on a second portion ofthe row of bales.

FIG. 13 is a block diagram of a control system for a bale wrappingdevice based on bale length. In a further method of wrapping a group ofbales in a bale wrapper, the bale wrapper controller 502 makes anadjustment to the quantity of wrapping material, (i.e. the number oflayers) from a first quantity on the surface of a first bale, to asecond quantity on a seam between the first bale and a second bale, andfurther makes an adjustment to the quantity of wrapping material to athird quantity on a surface of the second bale wherein the adjustment isdetermined based on a parameter or set of parameters representative ofactual bale length. A bale length sensor 1302 may be used to determinean actual bale length. The actual bale length may be measured using acamera that takes an image of a bale and a calculation of length is madeusing the image.

FIG. 14 is a block diagram of a control system for a bale wrappingdevice based on pressure. The parameter or set of parametersrepresentative of actual bale length may include a pressure signal froma pressure sensor 1402 mounted on a plunger to measure forcerepresentative of the amount of force pushing on a bale to be wrapped,wherein a first pressure signal indicates a first bale moving toward asecond bale and a second pressure signal indicates the first bale incontact with the second bale and a position signal indicative of aposition of the plunger within the bale wrapper. The pressure sensor1402 is a sensor that measures force, such as a piezoelectric sensor.The pressure sensor 1402 is connected to the bale wrapper controller502.

Additionally, the parameter or set of parameters representative ofactual bale length may include a signal from a visual or reflectivesensor, such as laser light, camera, LIDAR, radar, etc. indicative of alength of at least a first bale. The visual or reflective sensor, suchas laser, camera, LIDAR, radar, etc. may also indicate a gap between afirst bale and a second bale representative of the position of theplunger within the bale wrapper.

In another embodiment, the bale wrapper controller 502 compares aprogrammed bale length and an actual bale length determined by theparameter or set of parameters representative of actual bale length andadjusts the bale wrapper based on the determining, wherein theadjustments include at least one of adjustment of a brake setting 1404and a rotational speed 524 of the wrapping hoop 110, and the balewrapper controller 502 replaces the programmed bale length with theactual bale length determined by the parameter or set of parametersrepresentative of actual bale length.

In another embodiment, the bale wrapper controller 502 compares aprogrammed bale length and an actual bale length determined by theparameter or set of parameters representative of actual bale length andadjusts the bale wrapper based on the determining, wherein theadjustments include at least one of adjustment of a brake setting 1404and a rotational speed 524 of the wrapping hoop 110, and the balewrapper controller 502 sends a notification to the display 900 to notifythe operator that the programmed bale length is different from theactual bale length determined by the parameter or set of parametersrepresentative of actual bale length.

FIG. 15 is a block diagram of a control system for a bale wrappingdevice with roller ramp. In another method for wrapping a group of balesin a bale wrapper, the bale wrapper wraps a first group of bales withthe bale wrapper in a first configuration with a roller ramp 1502 of thebale wrapper in a substantially level position relative to a groundsurface and a second group of bales with the bale wrapper in a secondconfiguration with the roller ramp 1502 of the bale wrapper at an angleterminating at the ground surface, wherein the bale wrapper controller502 instructs the bale wrapper to shift from the first configuration tothe second configuration.

In a further method for wrapping a group of bales in a bale wrapper, thebale wrapper controller 502 instructs the bale wrapper to wrap one of apredetermined number of bales and a predetermined length of bales insaid first group of bales in a first substantially level position, thebale wrapper controller 502 then adjusts a drive wheel position 1504from a first extended position to a second retracted position to lowerthe bale wrapper from the first substantially level position to a secondangled position, the bale wrapper controller 502 instructs the balewrapper to wrap a second group of bales in the second angled position.

Referring again to FIG. 14 , in another embodiment of a method ofwrapping bales in a bale wrapper, a bale wrapper controller 502 adjustsa brake setting 1404 to achieve a predetermined compression ratio,wherein the compression ratio is determined by comparing a bale lengthand a distance traveled by the bale wrapper during a wrapping cycle.

In a further embodiment, the brake setting 1404 is increased when thecompression ratio is lower than the predetermined compression thresholdand the brake setting 1404 is decreased when the compression ratio ishigher than the predetermined compression threshold.

FIG. 16 is a block diagram of a control system for a bale wrappingdevice with engine performance control. Bale wrapper controller 502 usesperformance feedback from bale wrapper to adjust engine performance andfeedback on engine performance to adjust the bale wrapper. The enginemay provide output parameters that can be sent to the bale wrappercontroller 502, including engine speed, power, fuel level, and operatinghours. The bale wrapper controller 502 may be configured to monitor theengine parameters so that the condition of the engine can be evaluated,and so that the controller 502 may make adjustments to performanceparameters in order to improve such factors as fuel economy.

In one embodiment, the bale wrapper controller 502 receives a signalindicative of the operating efficiency of an engine 1602 of a balewrapping device, and determines from the signal, a current efficiencylevel and based on the determining, adjusts one of the engine 1604 and apower distribution device 1606 until the signal indicative of theoperating efficiency matches a predetermined level of efficiency. Thepower distribution for various actuators may be hydraulically operated.

In one embodiment, the power distribution device is a hydraulic pump forproviding hydraulic fluid to a hydraulic actuator. In another embodimentthe power distribution device is a hydraulic valve for controlling flowof hydraulic fluid in the power distribution system.

Referring to FIG. 17 , illustrated therein is a side view of a balewrapping device 100 for wrapping a bale. The bale wrapping device 100includes a bale moving (pushing) device 104, a bale wrapping frame 106,a bale wrapping mechanism 118, a wrapping hoop 110, a loading table 516and a roller ramp 1502.

The bale wrapper wraps a first group of bales with the bale wrapper in afirst configuration with a roller ramp 1502 of the bale wrapper in asubstantially level position relative to a ground surface 3002. The balewrapper controller 502 instructs the bale wrapper to wrap one of apredetermined number of bales and a predetermined length of bales insaid first group of bales in a first substantially level position, thebale wrapper controller 502 then adjusts a drive wheel position 1504from a first extended position to a second retracted position to lowerthe bale wrapper from the first substantially level position to a secondangled position, the bale wrapper controller 502 instructs the balewrapper to wrap a second group of bales in the second angled position.

Referring to FIG. 18 , illustrated therein is a side view of a balewrapping device 100 for wrapping a bale. The bale wrapping device 100includes a bale moving (pushing) device 104, a bale wrapping frame 106,a bale wrapping mechanism 118, a wrapping hoop 110, a loading table 516and a roller ramp 1502.

The bale wrapper wraps a second group of bales with the bale wrapper ina second configuration with the roller ramp 1502 of the bale wrapper atan angle terminating at the ground surface 3002. The bale wrappercontroller 502 instructs the bale wrapper to wrap a second group ofbales in the second angled position.

When a bale wrapper is applying additional layers at the intersection ofa first bale and a second bale (seam layers) the bale diameter must beknown to the bale wrapper controller. This is done with a mechanicalsetting or a programmed bale diameter, however, if there is a differencebetween a first bale diameter and a second bale diameter, the wrappingmaterial may be applied improperly, leading to wasted wrapping materialon a first bale seam or inadequate wrapping material leading to spoilageon a second bale seam.

FIG. 19 is a block diagram of a control system for a bale wrappingdevice based on bale diameter. In a further method of wrapping a groupof bales in a bale wrapper, the bale wrapper controller 502 makes anadjustment to the quantity of wrapping material, (i.e. the number oflayers) from a first quantity on the surface of a first bale, to asecond quantity on a seam between the first bale and a second bale, andfurther makes an adjustment to the quantity of wrapping material to athird quantity on a surface of the second bale wherein the adjustment isdetermined based on a parameter or set of parameters representative ofactual bale diameter. A bale diameter sensor 1902 may be used todetermine an actual bale diameter. The actual bale diameter may bemeasured using a camera that takes an image of a bale and a calculationof diameter is made using the image.

Additionally, the parameter or set of parameters representative ofactual bale diameter may include a signal from a visual or reflectivesensor, such as laser light, camera, LIDAR, radar, etc. indicative of adiameter of at least a first bale.

FIG. 20 is a block diagram of a control system for a bale wrappingdevice with wireless receiver 2002. Bale wrapper controller 502 receivesa signal indicative of a moisture content of a first bale from thewireless receiver 2002 and determines a wrapping material quantity basedon the moisture content of the bale. In another method for wrapping agroup of bales in a bale wrapper, a bale is placed on a loading table516 of the bale wrapper and a wireless receiver 2002 receives a signalindicative of a moisture content of the bale. Bale wrapper controller502 receives the signal indicative of the moisture content from thewireless receiver and determines a wrapping material quantity based onthe moisture content of the bale.

In another method for wrapping a group of bales in a bale wrapper, abale is placed on a loading table 516 of the bale wrapper and a wirelessreceiver 2002 receives a signal indicative of a bale weight.

For example, a baler may utilize a moisture sensor or a weight sensor todetermine at least one of a moisture content or a weight of a bale whenthe bale is formed. The baler then marks the bale, for example with anRFID tag, to indicate at least one of a bale moisture content and a baleweight. The bale is placed on a loading table 516 of the bale wrapperand the bale wrapper controller 502 receives the signal indicative ofthe moisture content and/or the weight of the bale from the marking ofthe bale through the wireless receiver and determines a wrappingmaterial quantity based on the moisture content of the bale and recordsthe weight of the bale to a database.

1. A method for automatic wrapping a group of bales in a bale wrapper,comprising: placing a first bale in the group of bales on a loadingtable of the bale wrapper; performing a wrapping cycle including:rotating a wrapping hoop to apply a wrapping material to a bale surface;moving a bale pushing device from a first position toward a secondposition to push the first bale through the wrapping hoop; dispensingfrom at least a first material applicator and a second materialapplicator; determining presence of the wrapping material, by at leastone sensor on the wrapping hoop; adjusting based on the determining, atleast a ratio of moving speed of the bale pushing device to rotationalspeed of the wrapping hoop, to apply a predetermined amount of wrappingmaterial independent of the presence of wrapping material dispensingfrom the first material applicator and the second material applicator;continuing to move the bale pushing device until the second position isreached; stopping the rotation of the wrapping hoop; and moving the balepushing device from the second position to the first position.
 2. Themethod of claim 1, wherein the determining further includes: at a firsttime the sensor on the wrapping hoop determining the presence ofwrapping material dispensing from the first material applicator and thesecond material applicator; and applying the wrapping material at apredetermined amount; at a second time the sensor on the wrapping hoopdetermining the presence of wrapping material dispensing from a firstmaterial applicator only, and based on the determining, reducing theratio of moving speed of the bale pushing device to rotational speed ofthe wrapping hoop to apply the predetermined amount of wrappingmaterial; and at a third time the sensor on the wrapping hoopdetermining the presence of wrapping material dispensing from the firstmaterial applicator and the second material applicator, and based on thedetermining, increasing the ratio of moving speed of the bale pushingdevice to rotational speed of the wrapping hoop to apply thepredetermined amount of wrapping material.
 3. The method of claim 1,wherein the determining further includes: at a first time the sensor onthe wrapping hoop determining the presence of wrapping materialdispensing from the first material applicator and the second materialapplicator, and applying the wrapping material at a predeterminedamount; at a second time the sensor on the wrapping hoop determining thepresence of wrapping material dispensing from the first materialapplicator, the second material applicator and a third materialapplicator and based on the determining; and increasing the ratio ofmoving speed of the bale pushing device to rotational speed of thewrapping hoop to apply the predetermined amount of wrapping material. 4.The method of claim 1, wherein the adjusting further includes:receiving, by a bale wrapper controller, a wrapping material signalindicative of the presence of the wrapping material dispensing from atleast one of the first material applicator, the second materialapplicator and a third material applicator; based on the wrappingmaterial signal, determining a quantity of active material applicators;and based on the determination of the quantity of active materialapplicators, adjusting, by the bale wrapper controller, at least one ofthe moving speed of the bale pushing device and rotational speed of thewrapping hoop to apply the predetermined amount of wrapping material. 5.The method of claim 1, wherein the adjusting further includes:receiving, by the bale wrapper controller, a wrapping material signalindicative of no wrapping material on any of the first materialapplicator, the second material applicator, the third materialapplicator, and a fourth material applicator; and when the quantity ofactive material on the applicators is zero, adjusting, by the balewrapper controller, the moving speed of the bale pushing device androtational speed of the wrapping hoop to zero.
 6. The method of claim 1,wherein the adjusting further includes: adjusting the ratio of movingspeed of the bale pushing device to rotational speed of the wrappinghoop by an output from a bale wrapper controller; receiving, by the balewrapper controller, a wrapping material signal indicative of thepresence of the wrapping material dispensing from at least the firstmaterial applicator and the second material applicator; based on thewrapping material signal, determining a quantity of active materialapplicators; and based on the determination of the quantity of activematerial applicators, adjusting, by the bale wrapper controller, atleast one of the moving speed of the bale pushing device and rotationalspeed of the wrapping hoop to apply the predetermined amount of wrappingmaterial.
 7. The method of claim 1, further comprising: measuring, by aremaining material sensor, a parameter indicative of at least a firstremaining amount of material on at least the first material applicator;and informing, by a bale wrapper controller, an operator when the atleast first remaining amount of material is below a predeterminedremaining amount of material threshold.
 8. The method of claim 7,wherein the measuring further includes measuring, by the remainingmaterial sensor, a parameter of a roll of wrapping material on at leastthe first material applicator; when the parameter of the roll ofmaterial corresponds to a level that indicates the roll is below a firstpredetermined remaining amount of material threshold, alerting, by thebale wrapper controller, the operator through at least one of a firstvisual or audible warning; and when the parameter of the roll ofmaterial corresponds to a level that indicates the roll is below asecond predetermined remaining amount of material threshold, alerting,by the bale wrapper controller, the operator through at least one of asecond visual or audible warning, wherein the first visual or audiblewarning is different from the second visual or audible warning.
 9. Themethod of claim 1, wherein the group of bales is a row of bales, themethod further comprising: adjusting, by the bale wrapper, a quantity ofwrapping material applied to the row of bales, based on the positionwithin the row of bales, including applying a first quantity of wrappingmaterial to a first portion of the row of bales and applying a secondquantity of wrapping material to a second portion of the row of bales,wherein the first quantity of wrapping material is different from thesecond quantity of wrapping material based on position of the balewrapper along the row of bales.
 10. The method of claim 9, wherein theposition along the row of bales is determined by at least one of anoperator input, a feedback signal from a guidance sensor, or a signalindicative of a stage in a series of stages, and wherein the adjustingincludes counting a number of wrapping cycles and adjusting the wrappingmaterial applied to the row of bales based on a predetermined thresholdof wrapping cycles.
 11. A method of claim 1, further comprising:comparing, by a bale wrapper controller, a theoretical applied wrappingmaterial quantity to an actual applied wrapping material quantity; andadjusting the ratio of a bale pushing device travel velocity to the balewrapping hoop rotational velocity until the actual applied wrappingmaterial quantity is equal to the theoretical applied wrapping materialquantity.
 12. The method of claim 11, further comprising: receiving, bythe bale wrapper controller, feedback from a first speed sensor on thebale wrapping hoop; comparing the feedback from the first speed sensorto a desired theoretical speed; and adjusting an input to a drive wheeldrivingly contacting the bale wrapping hoop until the feedback from thefirst speed sensor matches the desired theoretical speed.
 13. The methodof claim 1, further comprising: adjusting a quantity of wrappingmaterial, from a first quantity on the surface of a first bale, to asecond quantity on a seam between the first bale and a second bale; andfurther adjusting the quantity of wrapping material to a third quantityon a surface of the second bale.
 14. The method of claim 1, furthercomprising: adjusting a quantity of wrapping material, from a firstquantity on the surface of a first bale, to a second quantity on a seambetween the first bale and a second bale; and further adjusting thequantity of wrapping material to a third quantity on a surface of thesecond bale, wherein the first and third quantities of wrapping materialare the same.
 15. The method of claim 1, further comprising: adjusting aquantity of wrapping material, from a first quantity on the surface of afirst bale, to a second quantity on a seam between the first bale and asecond bale; and further adjusting the quantity of wrapping material toa third quantity on a surface of the second bale, wherein the adjustmentis determined based on a parameter or set of parameters representativeof actual bale length.
 16. The method of claim 15, wherein the parameteror set of parameters representative of actual bale length includes apressure signal from a plunger representative of the amount of forcepushing on a bale to be wrapped, wherein a first pressure indicates afirst bale moving toward a second bale and a second pressure indicatesthe first bale in contact with the second bale and a position signalfrom the plunger representative of the position of the plunger withinthe bale wrapper.
 17. The method of claim 15, further comprising:comparing, by the bale wrapper controller, a programmed bale length andan actual bale length determined by the parameter or set of parametersrepresentative of actual bale length; adjusting the bale wrapper basedon the determining, wherein the adjustments include at least one of abrake setting and a rotational speed of the wrapping hoop; andreplacing, by the bale wrapper controller, the programmed bale lengthwith the actual bale length determined by the parameter or set ofparameters representative of actual bale length.
 18. The method of claim15, further comprising: comparing, by the bale wrapper controller, aprogrammed bale length and an actual bale length determined by theparameter or set of parameters representative of actual bale length;adjusting the bale wrapper based on the determining, wherein theadjustments include at least one of a brake setting and a rotationalspeed of the wrapping hoop; and notifying, by the bale wrappercontroller, an operator that the programmed bale length is differentfrom the actual bale length determined by the parameter or set ofparameters representative of actual bale length.
 19. The method of claim1, further comprising: wrapping a first group of bales with the balewrapper in a first configuration with a roller ramp of the bale wrapperin a substantially level position relative to a ground surface; wrappinga second group of bales with the bale wrapper in a second configurationwith the roller ramp of the bale wrapper at an angle terminating at theground surface, wherein the bale wrapper controller instructs the balewrapper shift from the first configuration to the second configuration.20. The method of claim 19, further comprising: wrapping one of apredetermined number of bales and a predetermined length of bales insaid first group of bales in a first substantially level position;adjusting, by the bale wrapper controller, a drive wheel position from afirst extended position to a second retracted position to lower the balewrapper from the first substantially level position to a second angledposition; and instructing, by the bale wrapper controller, the balewrapper to wrap a second group of bales in the second angled position.21. The method of claim 1, further comprising: adjusting, by a balewrapper controller, a brake setting to achieve a predeterminedcompression ratio, wherein the compression ratio is determined bycomparing a bale length and a distance traveled by the bale wrapperduring a wrapping cycle.
 22. The method of claim 21, wherein the brakesetting is increased when the compression ratio is lower than thepredetermined compression threshold and the brake setting is decreasedwhen the compression ratio is higher than the predetermined compressionthreshold.
 23. The method of claim 1, further comprising: obtaining, bya bale wrapper controller, performance feedback from bale wrapper;adjusting engine performance; and using the feedback on engineperformance to adjust the bale wrapper.
 24. The method of claim 1,further comprising: receiving, by a bale wrapper controller, a signalindicative of operating efficiency of an engine of a bale wrappingdevice; determining from the signal, a current efficiency level; andbased on the determining, adjusting one of the engine and a powerdistribution device until the signal indicative of the operatingefficiency matches a predetermined level of efficiency.